control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
actuators.cpp@3:47c76be6d402, 2015-10-05 (annotated)
- Committer:
- annesteenbeek
- Date:
- Mon Oct 05 16:01:21 2015 +0200
- Revision:
- 3:47c76be6d402
- Parent:
- 2:95ba9f6f0128
- Child:
- 4:80e2280058ed
pin layout set and motorControl
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 0:525558a26464 | 1 | // functions for controlling the motors |
annesteenbeek | 0:525558a26464 | 2 | |
annesteenbeek | 0:525558a26464 | 3 | void motorInit(){ |
annesteenbeek | 3:47c76be6d402 | 4 | // Initialze motors |
annesteenbeek | 3:47c76be6d402 | 5 | PwmOut motor1(motor1PWMPin); |
annesteenbeek | 3:47c76be6d402 | 6 | PwmOut motor2(motor2PWMPin); |
annesteenbeek | 3:47c76be6d402 | 7 | |
annesteenbeek | 3:47c76be6d402 | 8 | // Set motor direction pins. |
annesteenbeek | 3:47c76be6d402 | 9 | DigitalOut motor1Dir(motor1DirPin); |
annesteenbeek | 3:47c76be6d402 | 10 | DigitalOut motor2Dir(motor2DirPin); |
annesteenbeek | 3:47c76be6d402 | 11 | |
annesteenbeek | 3:47c76be6d402 | 12 | // Set initial direction |
annesteenbeek | 3:47c76be6d402 | 13 | motor1Dir.write(direction1); |
annesteenbeek | 3:47c76be6d402 | 14 | motor2Dir.write(direction2); |
annesteenbeek | 3:47c76be6d402 | 15 | |
annesteenbeek | 3:47c76be6d402 | 16 | // Set motor PWM period |
annesteenbeek | 3:47c76be6d402 | 17 | motor1.period(1/pwm_frequency); |
annesteenbeek | 3:47c76be6d402 | 18 | motor2.period(1/pwm_frequency); |
annesteenbeek | 3:47c76be6d402 | 19 | |
annesteenbeek | 3:47c76be6d402 | 20 | // Initialize encoders |
annesteenbeek | 3:47c76be6d402 | 21 | Encoder encoder1(enc1A, enc1B); |
annesteenbeek | 3:47c76be6d402 | 22 | Encoder encoder2(enc2A, enc2B); |
annesteenbeek | 1:80f098c05d4b | 23 | |
annesteenbeek | 1:80f098c05d4b | 24 | // create PID instances for motors |
annesteenbeek | 1:80f098c05d4b | 25 | // PID pidname(input, output, setpoint, kp, ki, kd, direction) |
annesteenbeek | 1:80f098c05d4b | 26 | PID PIDmotor1(&motorSpeed1, &motorPWM1, &motorSetSpeed1, Kp1, Ki1, Kd1, DIRECT); |
annesteenbeek | 1:80f098c05d4b | 27 | PID PIDmotor2(&motorSpeed2, &motorPWM2, &motorSetSpeed2, Kp2, Ki2, Kd2, DIRECT); |
annesteenbeek | 1:80f098c05d4b | 28 | |
annesteenbeek | 1:80f098c05d4b | 29 | // set PID mode |
annesteenbeek | 1:80f098c05d4b | 30 | PIDmotor1.SetMode(AUTOMATIC); |
annesteenbeek | 1:80f098c05d4b | 31 | PIDmotor2.SetMode(AUTOMATIC); |
annesteenbeek | 1:80f098c05d4b | 32 | |
annesteenbeek | 2:95ba9f6f0128 | 33 | // set limits for PID output to avoid integrator build up. |
annesteenbeek | 3:47c76be6d402 | 34 | PIDmotor1.SetOutputLimits(-1, 1); |
annesteenbeek | 3:47c76be6d402 | 35 | PIDmotor2.SetOutputLimits(-1, 1); |
annesteenbeek | 0:525558a26464 | 36 | } |
annesteenbeek | 0:525558a26464 | 37 | |
annesteenbeek | 0:525558a26464 | 38 | |
annesteenbeek | 0:525558a26464 | 39 | void motorControl(){ |
annesteenbeek | 1:80f098c05d4b | 40 | if(motorEnable){ // only run motors if switch is enabled |
annesteenbeek | 1:80f098c05d4b | 41 | |
annesteenbeek | 0:525558a26464 | 42 | // get encoder positions |
annesteenbeek | 3:47c76be6d402 | 43 | motor1Pos = encoder1.getPosition(); |
annesteenbeek | 3:47c76be6d402 | 44 | motor2Pos = encoder2.getPosition(); |
annesteenbeek | 3:47c76be6d402 | 45 | |
annesteenbeek | 0:525558a26464 | 46 | // check if motor's are within rotational boundarys |
annesteenbeek | 0:525558a26464 | 47 | // calculate encoder speeds |
annesteenbeek | 3:47c76be6d402 | 48 | motorSpeed1=(motor1Pos-prevMotor1Pos)/(time.read()-prevTime); |
annesteenbeek | 3:47c76be6d402 | 49 | motorSpeed2=(motor2Pos-prevMotor2Pos)/(time.read()-prevTime); |
annesteenbeek | 2:95ba9f6f0128 | 50 | |
annesteenbeek | 2:95ba9f6f0128 | 51 | // store current positions and time |
annesteenbeek | 3:47c76be6d402 | 52 | prevMotor1Pos = motor1Pos; |
annesteenbeek | 3:47c76be6d402 | 53 | prevMotor2Pos = motor2Pos; |
annesteenbeek | 2:95ba9f6f0128 | 54 | prevTime = time.read(); |
annesteenbeek | 0:525558a26464 | 55 | // translate to x/y speed |
annesteenbeek | 0:525558a26464 | 56 | // compute new PID parameters using setpoint speeds and x/y speeds |
annesteenbeek | 1:80f098c05d4b | 57 | PIDmotor1.compute(); |
annesteenbeek | 1:80f098c05d4b | 58 | PIDmotor2.compute(); |
annesteenbeek | 2:95ba9f6f0128 | 59 | // translate to motor rotation speed |
annesteenbeek | 0:525558a26464 | 60 | // write new values to motor's |
annesteenbeek | 2:95ba9f6f0128 | 61 | motor1.write(motorPWM1); |
annesteenbeek | 2:95ba9f6f0128 | 62 | motor2.write(motorPWM2); |
annesteenbeek | 2:95ba9f6f0128 | 63 | |
annesteenbeek | 0:525558a26464 | 64 | }else{ |
annesteenbeek | 0:525558a26464 | 65 | // write 0 to motors |
annesteenbeek | 2:95ba9f6f0128 | 66 | motor1.write(0); |
annesteenbeek | 2:95ba9f6f0128 | 67 | motor2.write(0); |
annesteenbeek | 0:525558a26464 | 68 | } |
annesteenbeek | 0:525558a26464 | 69 | } |
annesteenbeek | 0:525558a26464 | 70 | |
annesteenbeek | 0:525558a26464 | 71 | void servoControl(){ |
annesteenbeek | 0:525558a26464 | 72 | // use potMeter Value to set servo angle |
annesteenbeek | 0:525558a26464 | 73 | // (optionaly calculate xy position to keep balloon in position) |
annesteenbeek | 0:525558a26464 | 74 | // calculate z position using angle |
annesteenbeek | 0:525558a26464 | 75 | // calculate x y translation of endpoint |
annesteenbeek | 0:525558a26464 | 76 | // find new x and y speed. |
annesteenbeek | 0:525558a26464 | 77 | |
annesteenbeek | 0:525558a26464 | 78 | } |
annesteenbeek | 0:525558a26464 | 79 | |
annesteenbeek | 0:525558a26464 | 80 | void pumpControl(){ |
annesteenbeek | 0:525558a26464 | 81 | if (pumpButton == HIGH){ |
annesteenbeek | 3:47c76be6d402 | 82 | // write pumpPin High |
annesteenbeek | 0:525558a26464 | 83 | }else{ |
annesteenbeek | 0:525558a26464 | 84 | // write pumpPin Low |
annesteenbeek | 0:525558a26464 | 85 | } |
annesteenbeek | 0:525558a26464 | 86 | } |